Software-based Self-Test (SBST) can be used during the mission phase of microprocessor-based systems to periodically assess the hardware integrity. However, several constraints are imposed to this approach, due to the coexistence of test programs with the mission application. This paper proposes a method for the generation of SBST programs to test on-line the Address Calculation Unit of embedded RISC processors, which is one of the most heavily impacted by the online constraints. The proposed strategy achieves high stuck-at fault coverage on both a MIPS-like processor and an industrial 32-bit pipelined processor; these two case studies show the effectiveness of the technique and the low effort.